Team4388/2023WayOfTheRobot
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finished RobotMap, started RobotContainer work

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aarav18
2023-01-14 13:20:04 -07:00
parent 72183b7b2a
commit 258ba8c1c0
4 changed files with 86 additions and 61 deletions
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src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+4 -2
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@@ -4,6 +4,8 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
@@ -31,10 +33,10 @@ public class SwerveDrive extends SubsystemBase {
private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(leftFrontLocation, rightFrontLocation, leftBackLocation, rightBackLocation);
private RobotGyro gyro;
private WPI_Pigeon2 gyro;
/** Creates a new SwerveDrive. */
public SwerveDrive(SwerveModule leftFront, SwerveModule rightFront, SwerveModule leftBack, SwerveModule rightBack, RobotGyro gyro) {
public SwerveDrive(SwerveModule leftFront, SwerveModule rightFront, SwerveModule leftBack, SwerveModule rightBack, WPI_Pigeon2 gyro) {
this.leftFront = leftFront;
this.rightFront = rightFront;
this.leftBack = leftBack;